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| Format: | Preprint |
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2026
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| Online Access: | https://arxiv.org/abs/2604.27509 |
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| _version_ | 1866913079337418752 |
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| author | Pouladi, Syed |
| author_facet | Pouladi, Syed |
| contents | This paper addresses the stability analysis and state estimation of generalized Persidskii systems subject to time-varying delays and external disturbances. The generalized Persidskii class, which couples linear dynamics with sector-bounded nonlinear feedback loops, offers a tractable yet expressive framework for modeling electromechanical and neural network systems. We develop delay-dependent conditions for input-to-state stability (ISS) via Lyapunov--Krasovskii functionals incorporating Persidskii-type integral terms, and cast these conditions as linear matrix inequalities (LMIs). A structured robust observer is proposed for systems with partial state measurement, and its convergence is guaranteed through an $H_\infty$ synchronization criterion. To handle plant uncertainty, the system matrices are identified from trajectory data using a stability-preserving Koopman lifting procedure, in which the ISS-LMI constraint is embedded as a convex side condition during parameter regression. The identified model populates the prediction horizon of an ICODE-MPPI (Input-dependent Control-oriented Dynamical Estimation -- Model Predictive Path Integral) controller. The complete framework is validated on a 1.5 kW Permanent Magnet Synchronous Motor (PMSM) drive equipped with a programmable load brake. Experimental results confirm a 35\% reduction in velocity estimation RMSE relative to an Extended Kalman Filter and a 67\% improvement in speed-tracking accuracy relative to standard Field-Oriented Control, corroborating the theoretical ISS bounds established herein. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_27509 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Stability Analysis and Data-Driven State Estimation for Generalized Persidskii Systems with Time Delays: Theory and Experimental Validation on PMSM Drives Pouladi, Syed Systems and Control This paper addresses the stability analysis and state estimation of generalized Persidskii systems subject to time-varying delays and external disturbances. The generalized Persidskii class, which couples linear dynamics with sector-bounded nonlinear feedback loops, offers a tractable yet expressive framework for modeling electromechanical and neural network systems. We develop delay-dependent conditions for input-to-state stability (ISS) via Lyapunov--Krasovskii functionals incorporating Persidskii-type integral terms, and cast these conditions as linear matrix inequalities (LMIs). A structured robust observer is proposed for systems with partial state measurement, and its convergence is guaranteed through an $H_\infty$ synchronization criterion. To handle plant uncertainty, the system matrices are identified from trajectory data using a stability-preserving Koopman lifting procedure, in which the ISS-LMI constraint is embedded as a convex side condition during parameter regression. The identified model populates the prediction horizon of an ICODE-MPPI (Input-dependent Control-oriented Dynamical Estimation -- Model Predictive Path Integral) controller. The complete framework is validated on a 1.5 kW Permanent Magnet Synchronous Motor (PMSM) drive equipped with a programmable load brake. Experimental results confirm a 35\% reduction in velocity estimation RMSE relative to an Extended Kalman Filter and a 67\% improvement in speed-tracking accuracy relative to standard Field-Oriented Control, corroborating the theoretical ISS bounds established herein. |
| title | Stability Analysis and Data-Driven State Estimation for Generalized Persidskii Systems with Time Delays: Theory and Experimental Validation on PMSM Drives |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2604.27509 |